一种全局低偏的视觉/惯性/弱定位辅助融合导航系统  

Global Low Bias Visual/inertial/weak-positional-aided Fusion Navigation System

作　　者：徐宇枫 刘沅秩 秦明辉 赵辉[1] 陶卫[1] XU Yufeng;LIU Yuanzhi;QIN Minghui;ZHAO Hui;TAO Wei(School of Sensing Science and Engineering,School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学电子信息与电气工程学院感知科学与工程学院,上海200240

出　　处：《光子学报》2024年第4期209-220,共12页Acta Photonica Sinica

基　　金：国家重点研究发展计划(No.2018YFB1305005)。

摘　　要：以视觉惯性为核心的导航技术在长期运行工况下误差会不断累积,进而产生严重的轨迹偏移。针对该问题,提出一种全局低偏的视觉/惯性/弱定位辅助融合导航系统。该系统以视觉惯性里程计高频率、高局部精度特性为基础,在室内外不同场景中,提供可选的全局信息辅助方案,融合卫星导航原始信息、超声基站测距信息以及视觉靶标定位辅助信息,实现室内外一体化全局低偏导航。搭建数据平台采集现实数据,基于激光点云匹配方法生成轨迹真值,将本文方法与VINS-Mono方法和ORBSLAM3方法进行导航精度评估对比,证明所提出的系统在全天候室内外不同光照环境中鲁棒性最好,在局部和全局都具备最优的导航精度。In recent years,the rapid development of mobile robots,autonomous driving,drones and other technologies has increased the demand for high-precision navigation in complex environments.Visual-inertial odometry has been widely used in the field of robot navigation because of its low cost and high practicability.However,due to its relative measurement principle,the cumulative error can increase significantly during long-term operation of the system.To solve this problem,a global low-bias visual/inertial/weak-positional-aided fusion navigation system is proposed.The system provides optional solutions to integrate several unbiased positioning information such as Global Navigation Satellite System(GNSS)satellite navigation original information,US base station ranging information,and visual target positioning auxiliary information,fully combining the advantages of global information and visual-inertial odometry.Thus,high precision,high continuity,high real-time,indoor and outdoor integration of low-bias global navigation results are obtained.The main frame of the system designed in this paper is a factor graph model,based on the visual-inertial odometry,which ensures the high frequency pose output and seamless indoor/outdoor switching of the system.The visual-inertial residual factor is defined based on the visual reprojection model and IMU pre-integration model.For different application scenarios,GNSS constraints and ultrasonic constraints are introduced in the form of optional factors and state quantities,and GNSS residuals and ultrasonic residuals are defined.Among them,the GNSS factor constructs residuals with pseudorange measurements and Doppler shift information.The ultrasonic factor constructs the residual from the ultrasonic positioning results and the ultrasonic base station distance measurement.At the same time,ArUco visual information correction optional module is provided.Based on ArUco marker position prior information and ArUco target recognition algorithm,ArUco assisted global pose optimization method is d

关 键 词：视觉惯性里程计 全球卫星导航系统 超声定位 视觉靶标 室内外一体化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TN967.2[自动化与计算机技术—控制科学与工程]